CN107885096B - A three-dimensional simulation monitoring system for UAV patrolling track - Google Patents
A three-dimensional simulation monitoring system for UAV patrolling track Download PDFInfo
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Abstract
一种无人机巡检航迹三维仿真监控系统，包括：三维浏览模块、二次开发模块、界面功能模块、实时交互模块；与现有技术相比较，本发明的有益效果在于，本发明将无人机测试数据导入生成的高精度地形模型生成三维无人机测试场景，实现无人机模型与测试场地的无缝连接；无人机测试监控人员可通过三维仿真监控系统更加形象、直观的从各个角度观察无人机在测试过程中的轨迹、状态等信息，并通过图表等形式更加量化的比对无人机实际航迹和设计航迹；此外，作为一个可进行拓展应用的基础数据平台，本系统采用数据库方式进行基础数据的组织和管理，形成一个基于无人机测试应用服务的项目管理系统。
A three-dimensional simulation monitoring system for UAV patrol inspection track, comprising: a three-dimensional browsing module, a secondary development module, an interface function module, and a real-time interaction module; The high-precision terrain model generated by the UAV test data is imported to generate a three-dimensional UAV test scene, which realizes the seamless connection between the UAV model and the test site; the UAV test and monitoring personnel can use the three-dimensional simulation monitoring system to more vividly and intuitively Observe the trajectory, status and other information of the UAV during the test process from various angles, and compare the actual and designed UAV's actual track and design track in a more quantitative manner through charts and other forms; in addition, as a basic data that can be expanded and applied Platform, the system uses database to organize and manage basic data, forming a project management system based on UAV testing application services.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle application, in particular to an unmanned aerial vehicle three-dimensional flight path simulation monitoring system.
Background
In recent years, the market of civil unmanned aerial vehicles in China has entered the rapid development period, and currently, unmanned aerial vehicles become increasingly important data sources and information acquisition means for the geographic information industry. However, most unmanned aerial vehicle manufacturers do not have a scientific and quantitative unmanned aerial vehicle flight quality evaluation system and a standardized unmanned aerial vehicle flight trajectory measuring device. Meanwhile, the rapid development of the unmanned aerial vehicle industry provides huge demands for unmanned aerial vehicle flyer training. The existing referee field assessment scoring system cannot meet the development requirement of the unmanned aerial vehicle training industry. Therefore, a scientific and objective three-dimensional simulation monitoring system for unmanned aerial vehicle testing is needed. The judge can more vividly and intuitively observe the track, state and other information of the unmanned aerial vehicle in the test process from all angles through the three-dimensional simulation monitoring system. And data acquired by the acquisition system is displayed to judge personnel more quantitatively in forms of charts and the like through a basic data platform, and the unmanned aerial vehicle autonomous flight performance is detected in a standardized and quantitative mode from different angles or the unmanned aerial vehicle operation level assessment is trained.
Chinese patent publication No. CN 102339021a discloses an unmanned aerial vehicle control technology, which discloses an unmanned aerial vehicle visual simulation system aiming at the defects existing in the unmanned aerial vehicle control technology in the conventional technology, and the system displays the current visual environment and state data of the unmanned aerial vehicle in real time, and improves the safety and accuracy of unmanned aerial vehicle control. The key points of the technical scheme can be summarized as follows: the real visual environment acquired by the camera of the unmanned aerial vehicle and the flight control data acquired by the sensor are utilized, the virtual current visual environment is combined, a multi-sense-stimulation ground driving environment, the application of a virtualization technology and a synthetic vision technology are established, the unmanned aerial vehicle controller can accurately sense the position and the peripheral state of the aircraft in the three-dimensional stereoscopic world under any meteorological condition, the aircraft flies in the sky as if the aircraft flies in the sky, and the situation is established on the premise that the controller plays the role of the aircraft. The invention also discloses a visual simulation method of the unmanned aerial vehicle, which is suitable for controlling the unmanned aerial vehicle.
However, in the above technical solution, the terrain data is searched for by the virtual reality scene processing module, and then the data is transmitted to the real scene processing module for data reduction, so as to generate the terrain. According to the scheme, a high-precision terrain model cannot be generated quickly, the generated terrain model cannot be edited and modified, and the operability is low; secondly, the data generated by the flight data processing module is not subjected to quantization processing in the forms of charts and the like, and the result cannot be displayed intuitively; finally, the technical scheme does not support the development of a custom system or the direct inlaying of the whole system into a client system, and the openness is poor.
Disclosure of Invention
In view of the above, the invention provides a three-dimensional simulation monitoring system for an unmanned aerial vehicle inspection track, which is used for solving the technical problems of weak operability and poor system openness in the technical scheme.
The invention provides a three-dimensional simulation monitoring system for an unmanned aerial vehicle inspection track, which comprises: the system comprises a three-dimensional browsing module, a secondary development module, an interface function module and a real-time interaction module;
the three-dimensional browsing module creates a terrain model through software to enable the system to quickly browse the three-dimensional terrain model of the test site data;
the secondary development module is used for secondarily modifying the terrain model obtained by the three-dimensional browsing module by calling the extension module and importing modified terrain model data into the interface function module;
the interface function module displays a simulated terrain scene acquired through the modified terrain model data and a scene in a window range of the unmanned aerial vehicle, and observes a scene with a required visual angle and acquires a test state of the unmanned aerial vehicle by operating an interface;
the real-time interaction module can realize a whole set of flow based on unmanned aerial vehicle testing, an unmanned aerial vehicle testing field is quickly formed in the unmanned aerial vehicle measuring system, and the comparison data of the actual flight path and the design flight path of the unmanned aerial vehicle are quantitatively output in an objective and visual mode.
Furthermore, the three-dimensional browsing module supports image data, elevation data, vector data and attribute data.
Further, the secondary development module includes:
a terrain extraction unit for extracting local or remote terrain data via a network;
the cooperative operation unit is used for guiding, tracking in real time, interactively executing flight simulation, conversation, marking areas and overlapping analysis layer functions through a broadband network structure of the TCP/I P and can be matched with a server to execute a cooperative operation task;
a real-time position tracking unit: the moving object is controlled to display or play the historical route in real time or by importing GPS data.
Further, the secondary development module further includes:
copying a target entity unit, and copying various target entities through the space and the size;
the power establishing unit establishes different power transmission equipment through point or linear setting;
and the automatic manual drawing unit is used for drawing required linear, polygonal, characters and patterns on the 3D terrain.
Further, the secondary development module further includes:
the geocoding unit is used for inquiring data through a database;
a point cloud data input unit for inputting, editing and displaying the point cloud data generated by the 3D scanner;
the video and audio playing unit is used for playing the real-time data stream generated by the camera and the pre-recorded video and audio data and setting the position and the visual field of the camera;
the image layer unit is used for increasing the remote sensing image and displaying and hiding the newly added influence layer in real time;
and the high-quality image snapshot unit is used for setting and outputting the size and the format of the required 3D visual image.
Further, the interface function module includes:
testing the site overall overview unit, and checking the whole terrain in an overall manner through panoramic zooming;
the test site area roaming unit is used for browsing and roaming the whole scenic spot by using a mouse and a navigation button and changing the window range to observe more areas;
and the three-dimensional position measuring unit estimates the unmanned aerial vehicle test state by measuring the position of the unmanned aerial vehicle.
Further, the interface and function module further includes:
and the historical result checking unit is used for inquiring the test historical record of the unmanned aerial vehicle and drawing the flight altitude line of the unmanned aerial vehicle in real time.
Further, the real-time interaction module develops a customized system through an API and a COM interface or directly inlays a three-dimensional system into the system.
Further, the secondary development module clicks a region to be displayed aiming at a virtual reality scene of the mountain area environment integrated on the spherical model, and displays the virtual reality scene of the marine environment in the form of a webpage or an application program through a hyperlink.
Further, the test site overall overview unit includes: zooming, correcting and surrounding functions;
the zooming function is used for zooming the terrain model according to a certain proportion;
the correcting function is used for realizing a one-key correcting function, namely recovering the north-pointing direction;
the surround function: the method is used for carrying out surrounding observation aiming at the current visual angle central point and viewing the terrain object at an omnibearing angle.
Further, the test site area roaming unit includes: dragging, sliding and overturning functions;
the dragging function changes the display range of the window by moving the terrain and ground objects;
the sliding function changes the display range of the window by sliding the camera;
and selecting a turning function, and changing the display range of the window by changing the inclination angle and the azimuth angle of the camera.
Further, the three-dimensional position measurement unit includes: horizontal measurement, vertical measurement, space measurement and area measurement;
the horizontal measurement is used for measuring the distance between two points in the horizontal direction and can realize multi-point continuous measurement;
the vertical measurement is used for measuring the distance between two points in the direction of a vertical horizontal plane;
the space measurement is used for measuring the space distance between two space points, namely measuring the linear distance between the two space points;
the area measurement is used for measuring the area, namely measuring the area of the polygon in the horizontal direction and the area calculated by the adjacent terrain, and can automatically convert the area result according to unit selection.
Furthermore, the historical result viewing module respectively extracts the stored data to realize functions of historical track query, historical track derivation, historical track simulation and design track simulation.
Further, the vector data and the image data are stored in a local file, and the attribute data are stored in a relational database; the two data are associated through a file for managing the topological relation of the space objects.
Furthermore, the discrete three-dimensional coordinate data, the simulated unmanned aerial vehicle track, the horizontal measurement result, the vertical measurement result, the space measurement result and the area measurement result of the virtual unmanned aerial vehicle in the system at each sampling moment are used for evaluating the autonomous flight performance of the unmanned aerial vehicle or the operation check of the flying hands.
Compared with the prior art, the method has the advantages that the high-precision digital ground model and the high-resolution image are superposed, the high-precision terrain model is generated in the three-dimensional visual platform, the unmanned aerial vehicle test data is imported into the terrain model to quickly generate the three-dimensional unmanned aerial vehicle test scene, and seamless connection between the unmanned aerial vehicle model and the test site is realized; the unmanned aerial vehicle test monitoring personnel can more vividly and intuitively observe the track, state and other information of the unmanned aerial vehicle in the test process from all angles through the three-dimensional simulation monitoring system, and compare the actual track and the designed track of the unmanned aerial vehicle more quantitatively through the forms of charts and the like.
In addition, as a basic data platform capable of expanding application, the system adopts a database mode to organize and manage basic data, and forms a project management system based on unmanned aerial vehicle test application service.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings. In the drawings:
fig. 1 is a structural block diagram of a three-dimensional simulation monitoring system for an unmanned aerial vehicle inspection track.
Fig. 2 is a flow chart of the three-dimensional simulation monitoring system for the unmanned aerial vehicle routing inspection flight path.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
Referring to fig. 1, it is a block diagram of a three-dimensional simulation monitoring system for a route of unmanned aerial vehicle inspection, and the system includes: the system comprises a three-dimensional browsing module, a secondary development module, an interface function module and a real-time interaction module; the three-dimensional browsing module is used for creating a terrain model through software so that the system can quickly browse the three-dimensional terrain model of the test site data; the secondary development module is used for secondarily modifying the terrain model obtained by the three-dimensional browsing module by calling the extension module and importing modified terrain model data into the interface function module; the interface function module displays a simulated terrain scene acquired through the modified terrain model data and a scene in a window range of the unmanned aerial vehicle, and observes a scene with a required visual angle and acquires a test state of the unmanned aerial vehicle by operating an interface; and the real-time interaction module can realize a whole set of flow based on unmanned aerial vehicle testing, quickly form an unmanned aerial vehicle testing field in the unmanned aerial vehicle measuring system, and quantitatively output the comparison data of the actual flight path and the design flight path of the unmanned aerial vehicle in an objective and visual mode.
Specifically, the three-dimensional browsing module supports image data, elevation data, vector data, and attribute data. The vector data and the image data are stored in a local file, and the attribute data are stored in a relational database; the two data are associated through a file for managing the topological relation of the space objects.
In this embodiment, after the three-dimensional browsing module creates a terrain model (superimposes the DEM and the DOM) by using TerraBuilder software, the system can quickly browse the three-dimensional terrain model, and the three-dimensional browsing module has basic three-dimensional roaming display functions such as translation, rotation, and zooming.
Specifically, the secondary development module includes: a terrain extraction unit for extracting local or remote terrain data via a network; the cooperative operation unit is used for guiding, tracking in real time, interactively executing flight simulation, conversation, marking areas and overlapping analysis layer functions through a broadband network structure of a TCP/IP (transmission control protocol/Internet protocol), and can be matched with a server to execute a cooperative operation task; real-time GPS tracking unit: the moving object is controlled to display or play the historical route in real time or by inputting GPS data. The secondary development module further comprises: copying a target entity unit, and copying various target entities through the space and the size; the power establishing unit establishes different power transmission equipment through point or linear setting; and the automatic manual drawing unit is used for drawing required linear, polygonal, characters and patterns on the 3D terrain. The secondary development module further comprises: the geocoding unit is used for inquiring data through a database; a point cloud data input unit for inputting, editing and displaying the point cloud data generated by the 3D scanner; the video and audio playing unit is used for playing the real-time data stream generated by the camera and the pre-recorded video and audio data and setting the position and the visual field of the camera; the image layer unit is used for increasing the remote sensing image and displaying and hiding the newly added influence layer in real time; and the high-quality image snapshot unit is used for setting and outputting the size and the format of the required 3D visual image. The secondary development module clicks a region to be displayed aiming at a virtual reality scene of the mountain area environment integrated on the sphere model, and displays the virtual reality scene of the marine environment in the form of a webpage or an application program through a hyperlink.
In this embodiment, a component of the Skyline platform is called to perform secondary development on the three-dimensional terrain generated by the three-dimensional browsing module, so that the research and development efficiency is improved by virtue of the advantage of three-dimensional browsing display, and the modified three-dimensional terrain is imported into the interface function module. The system comprises a plurality of expansion modules and mainly comprises a terrain extraction unit: local or remote topographic data can be cut and downloaded to the client through the network, and can be output into data of CD/DVD storage capacity, VRML model or terrain file required by real-time generation in cooperation with Direct Connect function; a cooperative operation unit: through a broadband network structure of TCP/IP, a user is allowed to have the functions of guiding, real-time tracking, interactive execution of flight simulation, conversation, region labeling, overlay analysis, layer superposition and the like, and can execute a cooperative operation task in cooperation with a server; real-time GPS tracking unit: the GPS data can be input in real time, one or more moving objects can be controlled, and historical routes can be selected to be displayed or played according to GPS signals; copying a target entity unit: lines or surfaces can be set, and various target entities can be copied according to the space and the size; and a self-manual drawing unit: various linear, polygonal, text, 2D and 3D patterns can be drawn on the 3D terrain; establishing a power line unit: different power transmission equipment can be established according to the selected point or linear setting; a geocoding unit: can be connected to the MapInfo database for data query; a point cloud data input unit: the point cloud data generated by the 3D scanner can be input, edited and displayed; an audio-video playing unit on the terrain: allowing to play real-time data stream or pre-recorded video data generated by a static or mobile camera on the terrain, and setting the position and view field of the camera, or dynamically showing the image and position shot by the mobile camera according to remote sensing data; image layer unit: allowing a user to paste the remote sensing image on the terrain to display/hide the newly-added image layer in real time and supporting the file format with the largest multi-scale and multi-level resolution; high-quality image snapshot: the desired 3D visualization image size and format (BMP and TIFF) can be set and output. Aiming at the virtual reality scene of the mountain area environment integrated on the sphere model, the system provides a solution that the area to be displayed is clicked, and the virtual reality scene of the marine environment is displayed in the form of a webpage or an application program through a hyperlink.
Specifically, the interface function module includes: testing the site overall overview unit, and checking the whole terrain in an overall manner through panoramic zooming; the test site area roaming unit is used for browsing and roaming the whole scenic spot by using a mouse and a navigation button and changing the window range to observe more areas; and the three-dimensional position measuring unit estimates the unmanned aerial vehicle test state by measuring the position of the unmanned aerial vehicle. The interface and function module further comprises: and the historical result checking unit is used for inquiring the test historical record of the unmanned aerial vehicle and drawing the flight altitude line of the unmanned aerial vehicle in real time. The test site overall overview unit comprises: zooming, correcting and surrounding functions; a scaling function to scale the terrain model in a certain proportion; a return function for realizing a one-key return function, i.e. recovering the north-pointing direction; the surround function: the method is used for carrying out surrounding observation aiming at the current visual angle central point and viewing the terrain object at an omnibearing angle. The test site area roaming unit includes: dragging, sliding and overturning functions; the dragging function is used for changing the display range of the window by moving the terrain and ground objects; a sliding function for changing the display range of the window by sliding the camera; and selecting a turning function, and changing the display range of the window by changing the inclination angle and the azimuth angle of the camera. The three-dimensional position measurement unit includes: horizontal measurement, vertical measurement, space measurement and area measurement; horizontal measurement is used for measuring the distance between two points in the horizontal direction and realizing multi-point continuous measurement; a vertical measurement to measure a distance in a vertical direction between two points; the space measurement is used for measuring the space distance between two points in space, namely measuring the straight-line distance between the two points in space; and measuring the area, namely measuring the area of the polygon in the horizontal direction and the area calculated by the adjacent terrain, and automatically converting the area result according to unit selection. The historical result viewing module respectively extracts the stored data to realize the functions of historical track query, historical track export, historical track simulation and designed track simulation.
In this embodiment, the three-dimensional simulation monitoring system for testing the unmanned aerial vehicle is deployed in a computer in an office of an unmanned aerial vehicle testing place, and a researcher uses the computer with the installed system to operate. The system has friendly interface, simple introduction, easy operation and strong operability, provides perfect prompt information and help functions, has detailed and complete instruction documents such as an operation manual and the like, has simple software operation and short training period, and can be quickly mastered and used by a user.
Specifically, the three-dimensional terrain model after the secondary modification is combined with the unmanned aerial vehicle, and a series of modification operations can be carried out. The module comprises a test site overall overview module, a test site region roaming unit, a three-dimensional position measuring unit and a historical result checking unit. The test site overall overview module comprises basic functions of zooming, correcting, surrounding and the like, can be zoomed to a certain proportion according to the requirements of users, realizes a one-key correcting function, recovers the north-seeking direction, can perform surrounding observation aiming at the current visual angle central point, views a terrain object at all angles, and can realize panoramic zooming so that the users view the whole terrain summary integrally; the test site area roaming module comprises three basic functions of three-dimensional scene dragging, sliding and overturning, a three-dimensional virtual reality technology is adopted, the whole scene of a real scene is displayed, a user can intuitively browse and roam the scene by using a mouse and a navigation button through human-computer interaction, a dragging function button is selected, the window display range is changed by moving a terrain feature so as to observe more areas, a sliding function button is selected, the window display range is changed by sliding a camera so as to observe more areas, an overturning function button is selected, and the window display range is changed by changing the inclination angle and the azimuth angle of the camera so as to observe more areas; the three-dimensional position measuring module of the unmanned aerial vehicle comprises five basic functions of horizontal measurement, vertical measurement, space measurement and area measurement, wherein the horizontal measurement is used for measuring the distance between two points in the horizontal direction, and multi-point continuous measurement can be realized; vertical measurement, i.e. measuring the distance in the vertical direction between two points; spatial measurement is the spatial distance between two points in space, namely the linear distance; area measurement is to measure the area of the polygon in the horizontal direction and the area calculated by the adjacent terrain, and the area result can be automatically converted according to unit selection. The measuring function plays an important role in practical application, and the test state of the unmanned aerial vehicle can be estimated according to the measuring result; the historical result viewing module comprises functions of historical track query, historical track derivation, historical track simulation, design track simulation and the like. The historical track query provides a function of querying the test history of the unmanned aerial vehicle, the dynamic flight track of the unmanned aerial vehicle is simulated, the track path is drawn dynamically, the design air line is drawn dynamically in the three-dimensional scene according to the historical data, and the flight altitude line of the unmanned aerial vehicle is drawn in real time.
And the real-time interaction module develops a customized system through an API and a COM interface or directly inlays a three-dimensional system into the system.
Specifically, the present embodiment can implement a whole set of process based on the test of the unmanned aerial vehicle, including the functions of designing the route of the unmanned aerial vehicle, playing back the track in real time, displaying the flight state in real time, comparing the designed route with the actual route, and the like. An unmanned aerial vehicle test site can be quickly constructed in the system, and unmanned aerial vehicle test and three-dimensional seamless connection are realized; the unmanned aerial vehicle test monitoring personnel can more vividly and intuitively observe the track, state and other information of the unmanned aerial vehicle in the test process from all angles through the three-dimensional simulation monitoring system, and compare the actual track and the designed track of the unmanned aerial vehicle more quantitatively through the forms of charts and the like. The system has better openness, and can develop a custom system through an API and a COM interface or directly inlay a three-dimensional system into a client system.
terraExplorer Pro API: and the enhanced COM interface can control all objects and actions thereof in the three-dimensional scene. The system is used for customizing a three-dimensional application system and providing extended functions for accessing external data such as a database, a GIS file and real-time data. All COM-provided interfaces can be accessed through scripts (javascript) and through C + + or C #. Active X control set: the system can output the 3D window and the information tree control window in the form of Active X. Developers can seamlessly integrate these Active X controls into the application system of any Windows or Web environment. User interface API: is an extension of the system provisioning API. With its powerful functions, developers can control more three-dimensional analysis tools and functions.
Discrete three-dimensional coordinate data, simulated unmanned aerial vehicle tracks, horizontal measurement results, vertical measurement results, space measurement results and area measurement results of the virtual unmanned aerial vehicle in the system at each sampling moment are used for evaluating the autonomous flight performance of the unmanned aerial vehicle or the operation check of the flying hands.
The system is installed in a computer, and the hardware of the computer is configured at the lowest level: the system comprises a dual-core processor, a 4G memory and a 1T hard disk; computer software configuration: windows 7 and above versions Windows system open permissions. Bandwidth requirements: under the condition of the bandwidth of more than 100kbit, the terminal can smoothly browse the three-dimensional landscape.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
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| CN116126024A (en) | 2018-07-20 | 2023-05-16 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and storage medium of mobile robot |
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| CN103093047B (en) * | 2013-01-12 | 2015-06-17 | 天津大学 | Typical aircraft visual simulation system |
| CN103809600B (en) * | 2014-03-04 | 2016-08-17 | 北京航空航天大学 | A kind of human-computer interactive control system of unmanned airship |
| CN106530896A (en) * | 2016-11-30 | 2017-03-22 | 中国直升机设计研究所 | Virtual system for unmanned aerial vehicle flight demonstration |
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